Uniform Adaptive Neural Control for Switched Underactuated Systems

This paper presents an adaptive neural control strategy for output tracking of switched underactuated systems. To deal with sudden changes in control gains at switching times, we introduce gain characterizations to derive a smooth and unknown control. Due to these sudden changes, we present a discon...

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Bibliographic Details
Main Authors: Thanh-Trung Han, Shuzhi Sam Ge, Tong Heng Lee
Format: Conference Proceeding
Language:English
Subjects:
Control systems
Intelligent control
USA Councils
Online Access:Request full text
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Summary:This paper presents an adaptive neural control strategy for output tracking of switched underactuated systems. To deal with sudden changes in control gains at switching times, we introduce gain characterizations to derive a smooth and unknown control. Due to these sudden changes, we present a discontinuous adaptive neural control and its smooth approximation so that adaptive neural control is possible for switched systems. The difficulty associated with increments in Lyapunov functions of uncontrolled zero-dynamics is overcome by utilizing a relation between the persistent dwell-time and the decreasing rates of these functions. In this way, the resulting closed-loop system satisfies conditions of a recently introduced stability theorem for ISpS of persistent dwell-time switched systems, and hence its stability follows.
ISSN:2158-9860
2158-9879
DOI:10.1109/ISIC.2008.4635973